function vel = vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,t)
    %同acc，传参传一半的，另一半对称
    half = t_ed+t_half_idle;
%     vel = 0.*(t<=0 | (t>t_ed & t<= half))+(t^2*jerk_value/2).*(t>0 & t<= t_jerk) +(vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,t_jerk)+(t_ed-2*t_jerk)*t_jerk*jerk_value).*(t> t_jerk && t<=(t_ed-t_jerk))+...
%         (vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,t_ed-t_jerk)+vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,t_ed-t)).*(t> t_ed-t_jerk & t<= t_ed)+...
%         vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,2*half-t).*(t>half);
%     
%     
    if(t> half)
        vel = vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,2*half- t);
    else
       vel = 0.*(t<= 0 | (t>t_ed & t<= half))  +...
        t*jerk_value.*((t>0 )& (t <= t_jerk))  +...
        t_jerk*jerk_value.*(t> t_jerk & t<= (t_ed-t_jerk)) +...
        t_jerk*(t_ed-t).*(t>(t_ed-t_jerk) & t<= t_ed)+...
        0.*(t>t_ed  & t<= half);     
    end
    %+vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,t_ed).*(t>t_ed& t<=half)
end